Errata: In Exercise 2.7, reference to inverted pendulum may be confusing

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Location: page 063, line -8

The end of Exercise 2.7 refers to the dynamics of the inverted pendulum. A better phrasing is

Show that the dynamics of the electric generator have a normalized form that is similar to the dynamics of a pendulum with forcing at the pivot.

This is equivalent to the dynamics of the inverted pendulum near the angle .

(Contributed by R. M. Murray, 9 Jul 08)